isaac-sim · kellyguo11 · Aug 27, 2025 · Aug 19, 2025 · Aug 14, 2025 · Aug 15, 2025
diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
@@ -70,6 +70,7 @@ Guidelines for modifications:
 * HoJin Jeon
 * Hongwei Xiong
 * Hongyu Li
+* Huihua Zhao
 * Iretiayo Akinola
 * Jack Zeng
 * Jan Kerner
@@ -94,6 +95,7 @@ Guidelines for modifications:
 * Maurice Rahme
 * Michael Gussert
 * Michael Noseworthy
+* Michael Lin
 * Miguel Alonso Jr
 * Mingyu Lee
 * Muhong Guo
@@ -147,4 +149,5 @@ Guidelines for modifications:
 * Gavriel State
 * Hammad Mazhar
 * Marco Hutter
+* Yan Chang
 * Yashraj Narang
@@ -11,6 +11,9 @@
     DifferentialIKControllerCfg
     OperationalSpaceController
     OperationalSpaceControllerCfg
+    PinkIKController
+    PinkIKControllerCfg
+    pink_ik.NullSpacePostureTask
 
 Differential Inverse Kinematics
 -------------------------------
@@ -39,3 +42,13 @@ Operational Space controllers
     :inherited-members:
     :show-inheritance:
     :exclude-members: __init__, class_type
+
+Differential Inverse Kinematics Controllers (Based on Pink)
+-----------------------------------------------------------
+
+For detailed documentation of Pink IK controllers and tasks, see:
+
+.. toctree::
+   :maxdepth: 1
+
+   isaaclab.controllers.pink_ik
@@ -132,6 +132,9 @@ for the lift-cube environment:
     +--------------------+-------------------------+-----------------------------------------------------------------------------+
     | |gr1_pick_place|   | |gr1_pick_place-link|   | Pick up and place an object in a basket with a GR-1 humanoid robot          |
     +--------------------+-------------------------+-----------------------------------------------------------------------------+
+    | |gr1_pp_waist|     | |gr1_pp_waist-link|     | Pick up and place an object in a basket with a GR-1 humanoid robot          |
+    |                    |                         | with waist degrees-of-freedom enables that provides a wider reach space.    |
+    +--------------------+-------------------------+-----------------------------------------------------------------------------+
 
 .. |reach-franka| image:: ../_static/tasks/manipulation/franka_reach.jpg
 .. |reach-ur10| image:: ../_static/tasks/manipulation/ur10_reach.jpg
@@ -141,6 +144,7 @@ for the lift-cube environment:
 .. |cube-shadow| image:: ../_static/tasks/manipulation/shadow_cube.jpg
 .. |stack-cube| image:: ../_static/tasks/manipulation/franka_stack.jpg
 .. |gr1_pick_place| image:: ../_static/tasks/manipulation/gr-1_pick_place.jpg
+.. |gr1_pp_waist| image:: ../_static/tasks/manipulation/gr-1_pick_place_waist.jpg
 
 .. |reach-franka-link| replace:: `Isaac-Reach-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/franka/joint_pos_env_cfg.py>`__
 .. |reach-ur10-link| replace:: `Isaac-Reach-UR10-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py>`__
@@ -154,6 +158,7 @@ for the lift-cube environment:
 .. |stack-cube-link| replace:: `Isaac-Stack-Cube-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_joint_pos_env_cfg.py>`__
 .. |stack-cube-bp-link| replace:: `Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_blueprint_env_cfg.py>`__
 .. |gr1_pick_place-link| replace:: `Isaac-PickPlace-GR1T2-Abs-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_env_cfg.py>`__
+.. |gr1_pp_waist-link| replace:: `Isaac-PickPlace-GR1T2-WaistEnabled-Abs-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/pick_place/pickplace_gr1t2_waist_enabled_env_cfg.py>`__
 
 .. |cube-shadow-link| replace:: `Isaac-Repose-Cube-Shadow-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__
 .. |cube-shadow-ff-link| replace:: `Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__

@@ -333,7 +333,7 @@ Collect human demonstrations
 
    Data collection for the GR-1 humanoid robot environment requires use of an Apple Vision Pro headset. If you do not have access to
    an Apple Vision Pro, you may skip this step and continue on to the next step: `Generate the dataset`_.
-   A pre-recorded annotated dataset is provided in the next step .
+   A pre-recorded annotated dataset is provided in the next step.
 
 .. tip::
    The GR1 scene utilizes the wrist poses from the Apple Vision Pro (AVP) as setpoints for a differential IK controller (Pink-IK).
@@ -380,6 +380,9 @@ Collect five demonstrations by running the following command:
    --dataset_file ./datasets/dataset_gr1.hdf5 \
    --num_demos 5 --enable_pinocchio
 
+.. note::
+   We also provide a GR-1 pick and place task with waist degrees-of-freedom enabled ``Isaac-PickPlace-GR1T2-WaistEnabled-Abs-v0`` (see :ref:`environments` for details on the available environments, including the GR1 Waist Enabled variant). The same command above applies but with the task name changed to ``Isaac-PickPlace-GR1T2-WaistEnabled-Abs-v0``.
+
 .. tip::
    If a demo fails during data collection, the environment can be reset using the teleoperation controls panel in the XR teleop client
    on the Apple Vision Pro or via voice control by saying "reset". See :ref:`teleoperate-apple-vision-pro` for more details.

diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.45.7"
+version = "0.45.8"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst
@@ -1,6 +1,28 @@
 Changelog
 ---------
 
+0.45.8 (2025-07-25)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Created :attr:`~isaaclab.controllers.pink_ik.PinkIKControllerCfg.target_eef_link_names` to :class:`~isaaclab.controllers.pink_ik.PinkIKControllerCfg`
+  to specify the target end-effector link names for the pink inverse kinematics controller.
+
+Changed
+^^^^^^^
+
+* Updated pink inverse kinematics controller configuration for the following tasks (Isaac-PickPlace-GR1T2, Isaac-NutPour-GR1T2, Isaac-ExhaustPipe-GR1T2)
+  to increase end-effector tracking accuracy and speed. Also added a null-space regularizer that enables turning on of waist degrees-of-freedom.
+* Improved the test_pink_ik script to more comprehensive test on controller accuracy. Also, migrated to use pytest. With the current IK controller
+  improvements, our unit tests pass position and orientation accuracy test within **(1 mm, 1 degree)**. Previously, the position accuracy tolerances
+  were set to **(30 mm, 10 degrees)**.
+* Included a new config parameter :attr:`fail_on_ik_error` to :class:`~isaaclab.controllers.pink_ik.PinkIKControllerCfg`
+  to control whether the IK controller raise an exception if robot joint limits are exceeded. In the case of an exception, the controller will hold the
+  last joint position. This adds to stability of the controller and avoids operator experiencing what is perceived as sudden large delays in robot control.
+
+
 0.45.7 (2025-08-21)
 ~~~~~~~~~~~~~~~~~~~
 

@@ -15,3 +15,4 @@
 from .differential_ik_cfg import DifferentialIKControllerCfg
 from .operational_space import OperationalSpaceController
 from .operational_space_cfg import OperationalSpaceControllerCfg
+from .pink_ik import NullSpacePostureTask, PinkIKController, PinkIKControllerCfg
@@ -0,0 +1,13 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Pink IK controller package for IsaacLab.
+
+This package provides integration between Pink inverse kinematics solver and IsaacLab.
+"""
+
+from .null_space_posture_task import NullSpacePostureTask
+from .pink_ik import PinkIKController
+from .pink_ik_cfg import PinkIKControllerCfg